CN209400696U - Unmanned plane indoor locating system for nuclear power station - Google Patents
Unmanned plane indoor locating system for nuclear power station Download PDFInfo
- Publication number
- CN209400696U CN209400696U CN201822150545.7U CN201822150545U CN209400696U CN 209400696 U CN209400696 U CN 209400696U CN 201822150545 U CN201822150545 U CN 201822150545U CN 209400696 U CN209400696 U CN 209400696U
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- uwb
- data processing
- base station
- processing equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model relates to nuclear power station unmanned plane inspection fields, disclose a kind of unmanned plane indoor locating system for nuclear power station.It include: unmanned plane, UWB sensor, the base station UWB and data processing equipment, UWB sensor connects data processing equipment, and UWB sensor and data processing equipment are all set in the unmanned plane, and the base station UWB is set to interior.Above-mentioned unmanned plane indoor locating system, the base station UWB is used to provide positioning datum information to UWB sensor, UWB sensor is to UWB Base Transmitter short-time pulse, short-time pulse is received by UWB sensor again after reaching the base station UWB, UWB sensor can calculate transmission time of the pulse between the base station UWB and UWB sensor according to the short-time pulse received, so that it is determined that the distance between the base station UWB and UWB sensor, then calculated distance information is sent to data processing equipment, realizes indoor positioning function.Unmanned plane indoor locating system is positioned by UWB technology, strong antijamming capability, high reliablity.
Description
Technical field
The utility model relates to nuclear power station unmanned plane inspection fields, more particularly to a kind of unmanned plane indoor locating system.
Background technique
The full name of unmanned plane is UAV, it is to utilize radio robot and the presetting apparatus provided for oneself
The not manned vehicle of manipulation.Compared with manned aircraft, it have small in size, low cost, it is easy to use, to operational environment requirement
Low, the advantages that battlefield survival is stronger, therefore be widely used.When using unmanned plane, it is necessary first to which it is accurate to carry out
Positioning, obtain other operations that unmanned plane is more advantageous to behind accurate position.
Traditional positioning system is based on double GPS differential positions, and this technology is achieved in that two GPS modules
It is individually fixed on base station and unmanned plane, base station does not move during positioning, and the GPS on unmanned plane believes according to self-position
Breath carries out Combined Calculation, finally obtains the real-time space coordinate of unmanned plane in conjunction with the GPS relevant information that base station provides, this
Method can receive GPS signal in outdoor, opening, realize positioning function.However, when this positioning system is applied to room
When interior positioning, due to indoor reception to GPS signal strength very little even do not receive GPS signal, lead to position inaccurate, pass
The positioning system reliability of system is low.
Utility model content
Based on this, it is necessary to for the low problem of traditional positioning system reliability, provide a kind of unmanned plane indoor positioning
System.
A kind of unmanned plane indoor locating system, comprising: unmanned plane, UWB (Ultra Wideband, ultra wide band) sensor,
The base station UWB and data processing equipment；The UWB sensor connects the data processing equipment, the UWB sensor and the number
It is all set in the unmanned plane according to processing unit, the base station UWB is set to interior.
Above-mentioned unmanned plane indoor locating system, the base station UWB are set to interior, for providing positioning datum to UWB sensor
Information, UWB sensor and data processing equipment are all set in unmanned plane, and UWB sensor is short to UWB Base Transmitter short-time pulse
It is received after clock pulse is flushed to up to the base station UWB and by UWB sensor, UWB sensor can calculate arteries and veins according to the short-time pulse received
The transmission time being punched between the base station UWB and UWB sensor, so that it is determined that the distance between the base station UWB and UWB sensor, so
Calculated distance information is sent to data processing equipment afterwards, realizes indoor positioning function.Unmanned plane indoor locating system
It is positioned by UWB technology, strong antijamming capability, high reliablity.
Detailed description of the invention
Fig. 1 is the structure chart of unmanned plane indoor locating system in one embodiment；
Fig. 2 is the structure chart of unmanned plane indoor locating system in one embodiment.
Specific embodiment
In order to which the utility model aim, technical solution and advantage is more clearly understood, by the following examples, and combine
Attached drawing is described more fully the utility model.It should be appreciated that specific embodiment described herein is only to explain
The utility model is not used to limit the utility model.
In one embodiment, referring to Figure 1, a kind of unmanned plane indoor locating system, including unmanned plane 102, UWB are provided
Sensor 104, the base station UWB 106 and data processing equipment 108, UWB sensor 104 connect data processing equipment 108, UWB sensing
Device 104 and data processing equipment 108 are all set in unmanned plane 102, and the base station UWB 106 is set to interior.Wherein, the base station UWB 106
It is set to interior, for providing positioning datum information to UWB sensor 104, UWB sensor 104 and data processing equipment 108 are equal
It is set to unmanned plane 102, UWB sensor 104 emits short-time pulse to the base station UWB 106, after short-time pulse reaches the base station UWB 106
It is received again by UWB sensor 104, UWB sensor 104 can calculate pulse in the base station UWB 106 according to the short-time pulse received
Transmission time between UWB sensor 104, so that it is determined that the distance between the base station UWB 106 and UWB sensor 104, then
Calculated distance information is sent to data processing equipment 108, realizes indoor positioning function.Unmanned plane indoor locating system
It is positioned by UWB technology, strong antijamming capability, high reliablity.
Specifically, UWB is a kind of no-load communication technology, transmits number using the non-sinusoidal waveform burst pulse of nanosecond to Microsecond grade
According to the principle of UWB measurement distance is two-way time flight method, the pulse signal of the transmitting request property of UWB sensor 104, UWB biography
After the request pulse signal that sensor 104 issues reaches the base station UWB 106, the base station UWB 106 issues the pulse signal of response property, quilt
UWB sensor 104 receives, it is possible thereby to when calculating flight of the pulse signal between UWB sensor 104 and the base station UWB 106
Between, so that it is determined that flying distance can be that UWB sensor 104 provide calmly since the location information of the base station UWB 106 is known
Position reference information, after calculating the distance between UWB sensor 104 and the base station UWB 106, so that it may obtain UWB sensor 104
Location information, realize positioning function.Due to UWB technology strong antijamming capability, using UWB sensor 104 and the base station UWB 106
There is stronger immunity to other radio interferences when positioning, and locating speed is fast, precision is high.Unmanned plane 102 is to utilize nothing
The not manned vehicle of line electrical remote control equipment and the presetting apparatus provided for oneself manipulation, it is small in size, it can be more multiple in landform
The flexibly operation of miscellaneous interior, it is easy to use.Unmanned plane 102 can be applied to multiple indoor scene, such as determine inside nuclear power station
Position, since nuclear power station internal structure is complicated, when manual work, there are biggish security risks, by unmanned plane 102 in nuclear power station
Portion's operation safety is reliable.By the UWB sensor 104 that is set on unmanned plane 102 and be set to the indoor base station UWB 106 can
To obtain the distance between the base station UWB 106 of unmanned plane 102, which is sent to and is set to nothing by UWB sensor 104
Data processing equipment 108 on man-machine 102, the position letter of the available unmanned plane 102 after calculating of data processing equipment 108
Breath realizes the indoor positioning function of unmanned plane 102, using reliable.
Above-mentioned unmanned plane indoor locating system, the base station UWB 106 are set to interior, fixed for providing to UWB sensor 104
Position reference information, UWB sensor 104 and data processing equipment 108 are all set in unmanned plane 102, and UWB sensor 104 is to UWB base
Stand 106 transmitting short-time pulses, short-time pulse reach the base station UWB 106 after again received by UWB sensor 104, UWB sensor 104
Transmission time of the pulse between the base station UWB 106 and UWB sensor 104 can be calculated according to the short-time pulse received, thus really
Determine the distance between the base station UWB 106 and UWB sensor 104, calculated distance information is then sent to data processing dress
108 are set, realizes indoor positioning function.Unmanned plane indoor locating system is positioned by UWB technology, and strong antijamming capability can
By property height.
In one embodiment, Fig. 2 is referred to, 102 indoor heating system of unmanned plane further includes supersonic detection device 110, ultrasound
Detection device 110 is set to unmanned plane 102, and supersonic detection device 110 connects data processing equipment 108.Supersonic detection device 110
Be set on unmanned plane 102, can detecte between such as neighbouring structure of unmanned plane 102 and measured object such as wall, floor away from
From it is fast to detect speed for the indoor positioning of realization unmanned plane 102.
Specifically, supersonic detection device 110 is to realize detection function by propagation medium of ultrasonic wave, and ultrasonic wave is frequency
Mechanical wave higher than 20 kilo hertzs, this mechanical wave can propagated with certain speed and direction, encounter different heterogeneous of acoustic impedance
Reflection, refraction and waveform conversion will be generated when interface, pass through the time difference between measurement incidence wave and back wave, it may be determined that incident
The distance between point and reflecting surface.Supersonic detection device 110 is set on unmanned plane 102, is hair with 102 position of unmanned plane
Exit point emits ultrasonic wave, and ultrasonic wave can reflect when encountering the obstacle such as metope, floor or ceiling of surrounding after being issued,
The location information of metope, floor or ceiling etc. be it is known, reflected ultrasonic wave is received by supersonic detection device 110,
Supersonic detection device 110 converts electric signal for the ultrasonic signal received and is sent to data processing equipment 108, data processing
Device 108 calculates the distance between unmanned plane 102 and surrounding obstacle according to the signal that supersonic detection device 110 transmits,
To realize the function of indoor positioning.Due to ultrasonic wave directive property is strong, energy consumption slowly and in the medium the distance propagated compared with
Far, testing result is accurate and reliable when detecting the distance between unmanned plane 102 and surrounding obstacle using supersonic detection device 110.
In one embodiment, supersonic detection device 110 includes at ultrasound transmitter device, ultrasonic receiver and ultrasonic wave
Manage device, ultrasound transmitter device, ultrasonic receiver and processor for ultrasonic wave are all set in unmanned plane 102, ultrasound transmitter device and
Ultrasonic receiver is all connected with processor for ultrasonic wave, and processor for ultrasonic wave connects data processing equipment 108.Ultrasound transmitter device is set
It is placed in unmanned plane 102, for emitting ultrasonic wave in 102 position of unmanned plane, the ultrasonic wave being emitted passes in air
It broadcasts, can emit when ultrasonic wave encounters the obstacles such as metope, ceiling or floor, the ultrasonic wave after reflection is arranged at nothing
Ultrasonic receiver on man-machine 102 receives, and ultrasonic receiver is sent to processor for ultrasonic wave after receiving ultrasonic signal,
Processor for ultrasonic wave converts electric signal for the ultrasonic signal received and is sent to data processing equipment 108, data processing dress
It sets 108 and the distance between unmanned plane 102 and surrounding obstacle is calculated according to the signal that supersonic detection device 110 transmits, from
And the accurate location information of unmanned plane 102 is obtained, realize the function of indoor positioning.
Specifically, start timing while supersonic generator transmitting ultrasonic wave, ultrasonic wave is propagated in air, is touched on the way
It just returns to come immediately to barrier, ultrasonic receiver receives back wave and just stops timing immediately.The aerial biography of ultrasonic wave
Broadcast speed be it is known, according to emit and receive ultrasonic wave time difference can calculate launch point to barrier actually away from
From, in the present embodiment be unmanned plane 102 arrive barrier actual range, realize the function of ranging.
In one embodiment, Fig. 2 is referred to, 102 indoor heating system of unmanned plane further includes inertial measuring unit 112, inertia
Measuring device 112 is set to unmanned plane 102, and inertial measuring unit 112 connects data processing equipment 108.Inertial measuring unit 112
The flight attitude of unmanned plane 102 can be measured and the data measured are sent to data processing equipment by being set to unmanned plane 102
108, testing result is accurate.
Specifically, inertial measuring unit 112 is measurement 102 triaxial attitude angle of unmanned plane (or angular speed) and acceleration
Device.In general, an inertial measuring unit 112 includes three uniaxial accelerometers and three uniaxial gyros, acceleration
Meter be used to detect unmanned plane 102 carrier coordinate system unification and independence stand three axis acceleration signal, gyro can detecte carrier relative to
The angular velocity signal of navigational coordinate system, the angular speed and acceleration of measurement object in three dimensions, and object is calculated with this
Posture.The flight attitude information that inertial measuring unit 112 obtains unmanned plane 102 plays the extensive use of unmanned plane 102
Important role.
The structure of inertial measuring unit 112 is not uniquely that in one embodiment, inertial measuring unit 112 includes
Acceleration transducer, velocity sensor and data converter, acceleration transducer and velocity sensor are all connected with data converter,
Data converter connects data processing equipment 108.Acceleration transducer is used to detect acceleration of the unmanned plane 102 relative to ground vertical line
Component is spent, velocity sensor is used to detect the angle information of unmanned plane 102, the acceleration transducer that data converter will receive
The angle information for the unmanned plane 102 that the acceleration information and velocity sensor of the unmanned plane 102 sended over send over is converted
At electric signal and it is sent to data processing equipment 108, the information such as direction of rotation and the angle of unmanned plane 102 is obtained, realizes nobody
The acquisition of 102 flight attitude of machine.
In one embodiment, Fig. 2 is referred to, unmanned plane indoor locating system further includes the report for being set to unmanned plane 102
Alarm device 114, warning device 114 connect data processing equipment 108.Warning device 114 is connect with data processing equipment 108, root
Warning function is realized according to the signal that data processing equipment 108 issues, and can notify that staff is right in time by warning device 114
Unmanned plane 102 makes corresponding processing, is conducive to extend the service life of unmanned plane 102.
Specifically, the signal type that triggering warning device 114 works is not unique, such as is provided with when on unmanned plane 102
When UWB sensor 104, UWB sensor 104 detects at a distance from the base station unmanned plane 102 and UWB 106 and is sent to data processing dress
108 are set, when data processing equipment 108 judges UWB sensor 104 and the distance value of the base station UWB 106 is less than preset threshold, is recognized
The risk for bumping against the base station UWB 106 for unmanned plane 102 is larger, and data processing equipment 108 issues control signal to warning device at this time
114 make warning device 114 work, and staff is reminded to handle this dangerous situation in time.When being provided with ultrasonic inspection on unmanned plane 102
When surveying device 110, supersonic detection device 110 detects unmanned plane 102 at a distance from peripheral obstacle and is sent to data processing dress
108 are set, when data processing equipment 108 judges that unmanned plane 102 is less than preset threshold at a distance from peripheral obstacle, it is believed that nobody
The risk that machine 102 bumps against peripheral obstacle is larger, and data processing equipment 108 issues control signal to warning device 114 and makes at this time
Warning device 114 works, and to remind staff to take timely measure, avoids unmanned plane 102 from breaking influence system and just produces work.
It is appreciated that in other embodiments, warning device 114 can also trigger working condition according to other signals.
In one embodiment, warning device 114 includes buzzer and/or indicator light, and buzzer and/or indicator light connect
Data processing equipment 108.Specifically, when warning device 114 includes indicator light, the color or flashing of indicator light can be passed through
State realizes warning function.The quantity of indicator light can be to be multiple, and the color or flashing state of indicator light can also be different,
For example, indicating that unmanned plane 102 is in normal operating conditions, indicates unmanned plane when indicator light is red light when indicator light is green light
102 are in abnormal operation, or indicate that unmanned plane 102 is in normal operating conditions when indicator light is to be always on, and work as instruction
Lamp is to indicate that unmanned plane 102 is in abnormal operation etc. when different colours alternately flash.When warning device 114 includes buzzer
When, the prompting sound that can be issued by buzzer realizes warning function, such as unmanned plane is indicated when buzzer sounds the alarm
102 are in operation irregularity state, easy to use.
In one embodiment, the quantity of the base station UWB 106 is two or more.When the quantity of the base station UWB 106 is multiple,
Any time has multiple base stations UWB 106 to can receive the arteries and veins that the UWB sensor 104 being set on unmanned plane 102 issues
Punching, makes accurate positioning.Specifically, when the quantity of the base station UWB is two, UWB sensor can measure and two UWB bases respectively
The distance between stand, when the quantity of the base station UWB is four, available unmanned plane 102 and the base station UWB by way of ranging
The distance of 106 place straight lines；When four base stations UWB 106 are in the same plane, the two dimension of available unmanned plane 102 is sat
Mark realizes the two-dimensional localization of unmanned plane 102；When four base stations UWB 106 are in the same plane there are three the base station UWB 106, separately
Plane where an outer base station UWB 106 and three base stations UWB 106 can pass through this four base stations UWB there are when difference in height
106 obtain the three-dimensional coordinate of unmanned plane 102, realize the three-dimensional localization of unmanned plane 102 indoors, accurate positioning.
In one embodiment, the base station UWB setting spaced apart by a distance less than or be equal to 50m.The base station UWB is arranged mutual
The positioning accuracy of UWB can be improved every being less than or equal to 50m, make the accurate positioning of unmanned plane.Specifically, when the base station UWB is arranged
When being spaced apart from each other equal to 50m, the signal radiation range of each base station UWB can be made to have the part of overlapping substantially, pass UWB
Most of pulse that sensor issues can be received by the base station UWB, improve the reliability of positioning of the base station UWB and UWB sensor.
When the setting of the base station UWB is spaced apart by a distance less than 50m, most of pulse that UWB sensor issues can be received by the base station UWB
It arrives, and UWB base station number is more, more comprehensively, unmanned plane positioning is more acurrate for the positioning datum information provided.
Above-described embodiment in order to better understand is described in detail below in conjunction with a specific embodiment.At one
In embodiment, unmanned plane indoor locating system includes unmanned plane 102, UWB sensor 104, the base station UWB 106, supersonic detection device
110, inertial measuring unit 112, data processing equipment 108 and warning device 114, the base station UWB 106 are set to interior, UWB sensing
Device 104, supersonic detection device 110, inertial measuring unit 112, data processing equipment 108 and warning device 114 are all set in nothing
The quantity of the man-machine base station 102, UWB 106 is four, and UWB sensor 104 can measure unmanned plane 102 and four UWB bases respectively
Stand the distance between 106 L1, L2, L3 and L4, and supersonic detection device 110 can measure unmanned plane 102 and metope and bottom respectively
The distance between plate Mx, My and Mz, inertial measuring unit 112 can measure the horizontal angle α and pitching angle theta of unmanned plane 102, number
According to processing unit 108 according to L1, L2, L3, L4, Mx, My, Mz, α and θ, the space coordinate of unmanned plane 102 is calculated, it can be with
It is adjusted according to state of flight of the posture informations such as the horizontal angle for the unmanned plane measured and pitch angle to unmanned plane, works as data
Processing unit 108 judges the starting warning device 114 when in an abnormal state of unmanned plane 102, reminds staff to handle in time, mentions
The service life of high unmanned plane 102 realizes the safe and accurate positioning of unmanned plane 102 indoors, it is made to carry out flight operation.
In addition, in one embodiment, unmanned plane indoor locating system further includes controlling terminal, at controlling terminal and data
Device is managed to be wirelessly connected.Controlling terminal and data processing equipment are wirelessly connected, and unmanned plane indoor locating system may be implemented far
Journey communication function, using reliable.Specifically, controlling terminal can receive the information of data processing equipment transmission, such as unmanned plane
Location information and flight attitude information etc., be also based on these information composographs, the position of unmanned plane shown in figure,
Intuitively recognize the working condition of unmanned plane.Expansiblely, controlling terminal can also send remote control signal to signal processing
Device realizes the control to unmanned plane by signal processing apparatus, easy to use.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of unmanned plane indoor locating system, which is characterized in that the unmanned plane indoor locating system includes unmanned plane, UWB
Sensor, the base station UWB and data processing equipment；The UWB sensor connects the data processing equipment, the UWB sensor
It is all set in the unmanned plane with the data processing equipment, the base station UWB is set to interior.
2. unmanned plane indoor locating system according to claim 1, which is characterized in that the unmanned plane indoor heating system also wraps
Supersonic detection device is included, the supersonic detection device is set to the unmanned plane, and the supersonic detection device connects the data
Processing unit.
3. unmanned plane indoor locating system according to claim 2, which is characterized in that the supersonic detection device includes super
Sound transmitter, ultrasonic receiver and processor for ultrasonic wave, the ultrasound transmitter device, the ultrasonic receiver and described
Processor for ultrasonic wave is all set in the unmanned plane, and the ultrasound transmitter device and the ultrasonic receiver are all connected with described super
Sound wave processor, the processor for ultrasonic wave connect the data processing equipment.
4. unmanned plane indoor locating system according to claim 1, which is characterized in that the unmanned plane indoor heating system also wraps
Inertial measuring unit is included, the inertial measuring unit is set to the unmanned plane, and the inertial measuring unit connects the data
Processing unit.
5. unmanned plane indoor locating system according to claim 4, which is characterized in that the inertial measuring unit includes adding
Velocity sensor, velocity sensor and data converter, the acceleration transducer and the velocity sensor are all connected with described
Data converter, the data converter connect the data processing equipment.
6. unmanned plane indoor locating system according to claim 1, which is characterized in that further include being set to the unmanned plane
Warning device, the warning device connects the data processing equipment.
7. unmanned plane indoor locating system according to claim 6, which is characterized in that the warning device includes buzzer
And/or indicator light, the buzzer and/or indicator light connect the data processing equipment.
8. unmanned plane indoor locating system according to claim 1, which is characterized in that the quantity of the base station UWB is two
More than a.
9. unmanned plane indoor locating system according to claim 8, which is characterized in that the base station UWB is arranged mutual
Interval is less than or equal to 50m.
10. unmanned plane indoor locating system according to claim 1, which is characterized in that it further include controlling terminal, the control
Terminal processed and the data processing equipment are wirelessly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150545.7U CN209400696U (en) | 2018-12-20 | 2018-12-20 | Unmanned plane indoor locating system for nuclear power station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150545.7U CN209400696U (en) | 2018-12-20 | 2018-12-20 | Unmanned plane indoor locating system for nuclear power station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209400696U true CN209400696U (en) | 2019-09-17 |
Family
ID=67895439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822150545.7U Active CN209400696U (en) | 2018-12-20 | 2018-12-20 | Unmanned plane indoor locating system for nuclear power station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209400696U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112684456A (en) * | 2020-12-22 | 2021-04-20 | 安徽配隆天环保科技有限公司 | Unmanned aerial vehicle supersound solid imaging model system |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| TWI745156B (en) * | 2020-11-10 | 2021-11-01 | 財團法人金屬工業研究發展中心 | Method and system for positioning |
| CN112684456B (en) * | 2020-12-22 | 2024-05-17 | 安徽配隆天环保科技有限公司 | Unmanned aerial vehicle ultrasonic three-dimensional imaging model system |
-
2018
- 2018-12-20 CN CN201822150545.7U patent/CN209400696U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI745156B (en) * | 2020-11-10 | 2021-11-01 | 財團法人金屬工業研究發展中心 | Method and system for positioning |
| CN112684456A (en) * | 2020-12-22 | 2021-04-20 | 安徽配隆天环保科技有限公司 | Unmanned aerial vehicle supersound solid imaging model system |
| CN112684456B (en) * | 2020-12-22 | 2024-05-17 | 安徽配隆天环保科技有限公司 | Unmanned aerial vehicle ultrasonic three-dimensional imaging model system |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109275097B (en) | Indoor positioning and monitoring system based on UWB | |
| CN102608636B (en) | Stepping inquiry-response locating system for flight data recorder | |
| CN107076826A (en) | Ultra-broadband ranging method and apparatus, barrier-avoiding method and avoidance equipment | |
| CN203950449U (en) | Can automatic range dodge the unmanned plane of obstacle | |
| CN105607034A (en) | Three-dimensional space detection system, positioning method and system | |
| CN105607642A (en) | Method for unmanned aerial vehicle to automatically carry out range finding, avoiding and crossing flight in three-dimensional space | |
| RU2622505C1 (en) | Method of carrying out search and rescue works | |
| CN209400696U (en) | Unmanned plane indoor locating system for nuclear power station | |
| WO2018170733A1 (en) | Control method for movable platform and movable platform | |
| CN107356945A (en) | A kind of portable low-altitude unmanned plane management-control method and system | |
| CN105509874A (en) | Ambient noise detection and location method based on aerial vehicle | |
| CN106420285A (en) | Handheld blind guiding equipment | |
| CN110895419A (en) | Unmanned aerial vehicle positioner and expulsion device | |
| AU2021200307A1 (en) | Aircraft acoustic position and orientation detection method and apparatus | |
| CN108957481A (en) | A kind of disorder detection method, device and unmanned vehicle | |
| CN105445743A (en) | Ultrasonic blind man guide system and realizing method thereof | |
| CN206892343U (en) | A kind of obstacle detecting device and unmanned vehicle | |
| CN110363995A (en) | There are comprehensive detection system and its detection methods for a kind of vehicle | |
| Smith et al. | An outdoor high-accuracy local positioning system for an autonomous robotic golf greens mower | |
| CN108121002A (en) | A kind of localization method and device | |
| CN207586745U (en) | A kind of ultrasonic wave navigation sensor | |
| CN202204926U (en) | Real-time positioning management system | |
| CN109521399B (en) | Indoor positioning device and method of positioning controller | |
| CN106546972A (en) | A kind of ultrasound wave of VR and infrared ray joint distance-measuring equipment and its method | |
| CN202362458U (en) | Dynamic parachute laser radar three-dimensional distance measuring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |